A spatial multi-loop link mechanism with constant transmission ratio

Abstract

The application discloses a space multi-ring connecting rod mechanism with constant transmission ratio and relates to the technical field of mechanical equipment transmission mechanism. The space multi-ring connecting rod mechanism comprises a first Bennett mechanism, a second Bennett mechanism and a third Bennett mechanism. The first Bennett mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. The second Bennett mechanism comprises the third connecting rod, the fourth connecting rod, a fifth connecting rod and a sixth connecting rod. The third Bennett mechanism comprises the fifth connecting rod, the sixth connecting rod, a seventh connecting rod and an eighth connecting rod. The first Bennett mechanism and the second Bennett mechanism are coupled and connected through the shared third connecting rod and the fourth connecting rod. The second Bennett mechanism and the third Bennett mechanism are coupled and connected through the shared fifth connecting rod and the sixth connecting rod. The space multi-ring connecting rod mechanism can replace a low pair mechanism of a staggered shaft gear pair or a worm gear, has low inertia, and has the characteristics of small noise, vibration and breakage in a high-speed reciprocating motion environment.

Description

Technical Field

[0001] This invention belongs to the technical field of mechanical equipment transmission mechanisms, and more specifically, relates to a spatial multi-ring linkage mechanism with a constant transmission ratio. Background Technology

[0002] Mechanical transmission components such as worm gears, racks and pinions, and sprockets and chains can transmit motion at a constant transmission ratio and are widely used in many mechanical equipment. However, these transmission components are not suitable for applications requiring low inertia to achieve high-speed reciprocating motion, such as high-speed parallel mechanisms and legged robots. This is because high-speed reciprocating motion would subject the contact points of higher pairs to significant impact, leading to noise, vibration, and damage. Furthermore, compared to linkage mechanisms, transmission components such as worm gears are more expensive and more difficult to manufacture. Therefore, in some applications, designers use lower-pair linkage mechanisms with low inertia and simpler structures to replace higher-pair transmission components. Currently, the applicant has proposed multi-ring planar linkage mechanisms and multi-ring planar linkage mechanisms to achieve constant transmission ratio motion between parallel or intersecting axes; however, no corresponding spatial multi-ring linkage mechanism has been designed for constant transmission ratio motion between skew axes. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a spatial multi-ring linkage mechanism with a constant transmission ratio, which solves the problem of high-pair low-pair replacement of interlaced shaft gear pairs or worm gears, realizes a spatial multi-ring linkage mechanism with a constant transmission ratio, and thus reduces the noise, vibration and damage of the transmission device under high-speed reciprocating motion environment.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A spatial multi-link linkage mechanism with a constant transmission ratio includes: a first Bennett mechanism, a second Bennett mechanism, and a third Bennett mechanism. The first Bennett mechanism includes a first link, a second link, a third link, and a fourth link. The second Bennett mechanism includes a third link, a fourth link, a fifth link, and a sixth link. The third Bennett mechanism includes a fifth link, a sixth link, a seventh link, and an eighth link. The first Bennett mechanism and the second Bennett mechanism are coupled together by sharing the third link and the fourth link. The second Bennett mechanism and the third Bennett mechanism are coupled together by sharing the fifth link and the sixth link.

[0006] Preferably, a first shaft hole and a second shaft hole are respectively provided at both ends of the first connecting rod; a third shaft hole and a fourth shaft hole are respectively provided at both ends of the second connecting rod; a fifth shaft hole and a seventh shaft hole are respectively provided at both ends of the third connecting rod, and a sixth shaft hole is also provided on the third connecting rod, the sixth shaft hole being located between the fifth shaft hole and the seventh shaft hole; an eighth shaft hole and a ninth shaft hole are respectively provided at both ends of the fourth connecting rod; a tenth shaft hole and a twelfth shaft hole are respectively provided at both ends of the fifth connecting rod, and an eleventh shaft hole is also provided on the fifth connecting rod, the eleventh shaft hole being located between the tenth shaft hole and the twelfth shaft hole; a thirteenth shaft hole and a fifteenth shaft hole are respectively provided at both ends of the sixth connecting rod, and a fourteenth shaft hole is also provided on the sixth connecting rod, the fourteenth shaft hole being located between the thirteenth shaft hole and the fifteenth shaft hole; a sixteenth shaft hole and a seventeenth shaft hole are respectively provided at both ends of the seventh connecting rod; and an eighteenth shaft hole and a nineteenth shaft hole are respectively provided at both ends of the eighth connecting rod.

[0007] The first shaft hole is fixedly connected to the first rotating shaft, and the ninth and thirteenth shaft holes are both connected to the first rotating shaft; the second and third shaft holes are both connected to the second rotating shaft, the fourth and fifth shaft holes are both connected to the third rotating shaft, the sixth and tenth shaft holes are both connected to the fourth rotating shaft, the seventh and eighth shaft holes are both connected to the fifth rotating shaft, the eleventh and fourteenth shaft holes are both connected to the sixth rotating shaft, the twelfth and sixteenth shaft holes are both connected to the seventh rotating shaft, the seventeenth and nineteenth shaft holes are both connected to the eighth rotating shaft, the fifteenth shaft hole is connected to the ninth rotating shaft, and the eighteenth shaft hole is fixedly connected to the ninth rotating shaft.

[0008] Preferably, the first rotating shaft is an input end, and the ninth rotating shaft is an output end.

[0009] Preferably, the distance and angle between the first and third shaft holes are equal to the distance and angle between the fifth and seventh shaft holes, respectively; the distance and angle between the third and fourth shaft holes are equal to the distance and angle between the eighth and ninth shaft holes, respectively; the ratio of the distance between the first and third shaft holes to the distance between the second and fourth shaft holes is equal to the ratio of the sine of the torsion angle between the first and third shaft holes to the sine of the torsion angle between the second and fourth shaft holes; the distance and angle between the sixth and seventh shaft holes are equal to the distance and angle between the thirteenth and fourteenth shaft holes, respectively; the distance and angle between the eighth and ninth shaft holes are equal to the distance and angle between the tenth and eleventh shaft holes, respectively. The ratio of the distance between the eighth and thirteenth shaft holes to the distance between the ninth and fourteenth shaft holes is equal to the ratio of the sine of the torsion angle of the eighth and thirteenth shaft holes to the sine of the torsion angle of the ninth and fourteenth shaft holes; the distance and angle between the eleventh and twelfth shaft holes are equal to the distance and angle between the eighteenth and nineteenth shaft holes; the distance and angle between the fourteenth and fifteenth shaft holes are equal to the distance and angle between the sixteenth and seventeenth shaft holes; the ratio of the distance between the sixteenth and eighteenth shaft holes to the distance between the seventeenth and nineteenth shaft holes is equal to the ratio of the sine of the torsion angle of the sixteenth and eighteenth shaft holes to the sine of the torsion angle of the seventeenth and nineteenth shaft holes.

[0010] The beneficial effects of adopting the above technical solution are as follows: The present invention forms a spatial multi-ring linkage mechanism by coupling the first Bennett mechanism with the second Bennett mechanism and the second Bennett mechanism with the third Bennett mechanism. The first rotating shaft is used as the input end, and the ninth rotating shaft 209 is used as the output end. This spatial multi-ring linkage mechanism can achieve fixed transmission ratio transmission. Replacing the interlaced shaft gear pair or worm gear with this mechanism can reduce the noise, vibration and damage of the transmission device under high-speed reciprocating motion environment. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0012] Figure 2 This is a schematic diagram of the spatial connection structure of each rotating shaft in this invention;

[0013] Figure 3 This is a schematic diagram of the first link;

[0014] Figure 4 This is a schematic diagram of the second link;

[0015] Figure 5 This is a schematic diagram of the third link.

[0016] Figure 6This is a structural diagram of the fourth link;

[0017] Figure 7 This is a structural diagram of the fifth link;

[0018] Figure 8 This is a structural diagram of the sixth link;

[0019] Figure 9 This is a schematic diagram of the seventh link;

[0020] Figure 10 This is a schematic diagram of the eighth link;

[0021] In the diagram: 101, First connecting rod; 101a, First shaft hole; 101b, Second shaft hole; 102, Second connecting rod; 102a, Third shaft hole; 102b, Fourth shaft hole; 103, Third connecting rod; 103a, Fifth shaft hole; 103b, Sixth shaft hole; 103c, Seventh shaft hole; 104, Fourth connecting rod; 104a, Eighth shaft hole; 104b, Ninth shaft hole; 105, Fifth connecting rod; 105a, Tenth shaft hole; 105b, Eleventh shaft hole; 105c, Twelfth shaft hole; 106, Sixth connecting rod. Rod; 106a, Thirteenth shaft hole; 106b, Fourteenth shaft hole; 106c, Fifteenth shaft hole; 107, Seventh connecting rod; 107a, Sixteenth shaft hole; 107b, Seventeenth shaft hole; 108, Eighth connecting rod; 108a, Eighteenth shaft hole; 108b, Nineteenth shaft hole; 201, First rotating shaft; 202, Second rotating shaft; 203, Third rotating shaft; 204, Fourth rotating shaft; 205, Fifth rotating shaft; 206, Sixth rotating shaft; 207, Seventh rotating shaft; 208, Eighth rotating shaft; 209, Ninth rotating shaft. Detailed Implementation

[0022] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0023] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0024] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0025] like Figure 1 As shown, the spatial multi-ring linkage mechanism includes a first Bennett mechanism, a second Bennett mechanism, and a third Bennett mechanism. The first Bennett mechanism includes a first link 101, a second link 102, a third link 103, and a fourth link 104. The second Bennett mechanism includes a third link 103, a fourth link 104, a fifth link 105, and a sixth link 106. The third Bennett mechanism includes a fifth link 105, a sixth link 106, a seventh link 107, and an eighth link 108. The first and second Bennett mechanisms are coupled together by sharing the third link 103 and the fourth link 104. The second and third Bennett mechanisms are coupled together by sharing the fifth link 105 and the sixth link 106.

[0026] like Figure 3-10As shown, a first shaft hole 101a and a second shaft hole 101b are respectively provided at both ends of the first connecting rod 101; a third shaft hole 102a and a fourth shaft hole 102b are respectively provided at both ends of the second connecting rod 102; a fifth shaft hole 103a and a seventh shaft hole 103c are respectively provided at both ends of the third connecting rod 103, and a sixth shaft hole 103b is also provided on the third connecting rod 103, the sixth shaft hole 103b being located between the fifth shaft hole 103a and the seventh shaft hole 103c; an eighth shaft hole 104a and a ninth shaft hole 104b are respectively provided at both ends of the fourth connecting rod 104; and a tenth shaft hole 105a and a twelfth shaft hole 105a are respectively provided at both ends of the fifth connecting rod 105. 5c, the fifth link 105 is also provided with an eleventh shaft hole 105b, which is located between the tenth shaft hole 105a and the twelfth shaft hole 105c; the sixth link 106 is provided with a thirteenth shaft hole 106a and a fifteenth shaft hole 106c at both ends, and a fourteenth shaft hole 106b is also provided on the sixth link 106, which is located between the thirteenth shaft hole 106a and the fifteenth shaft hole 106c; the seventh link 107 is provided with a sixteenth shaft hole 107a and a seventeenth shaft hole 107b at both ends; the eighth link 108 is provided with an eighteenth shaft hole 108a and a nineteenth shaft hole 108b at both ends.

[0027] like Figure 2 As shown, the first shaft hole 101a is sleeved and fixedly connected to the first rotating shaft 201; the ninth shaft hole 104b and the thirteenth shaft hole 106a are both sleeved and connected to the first rotating shaft 201; the second shaft hole 101b and the third shaft hole 102a are both sleeved and connected to the second rotating shaft 202; the fourth shaft hole 102b and the fifth shaft hole 103a are both sleeved and connected to the third rotating shaft 203; the sixth shaft hole 103b and the tenth shaft hole 105a are both sleeved and connected to the fourth rotating shaft 204; and the seventh shaft hole 103c is sleeved and connected to the eighth shaft hole 204. Hole 104a is sleeved and connected to the fifth rotating shaft 205; hole 105b of the eleventh shaft and hole 106b of the fourteenth shaft are sleeved and connected to the sixth rotating shaft 206; hole 105c of the twelfth shaft and hole 107a of the sixteenth shaft are sleeved and connected to the seventh rotating shaft 207; hole 107b of the seventeenth shaft and hole 108b of the nineteenth shaft are sleeved and connected to the eighth rotating shaft 208; hole 106c of the fifteenth shaft is sleeved and connected to the ninth rotating shaft 209; and hole 108a of the eighteenth shaft is sleeved and fixedly connected to the ninth rotating shaft 209.

[0028] The distance and angle between the first shaft hole 101a and the third shaft hole 102a are equal to the distance and angle between the fifth shaft hole 103a and the seventh shaft hole 103c, respectively; the distance and angle between the third shaft hole 102a and the fourth shaft hole 102b are equal to the distance and angle between the eighth shaft hole 104a and the ninth shaft hole 104b, respectively; the ratio of the distance between the first shaft hole 101a and the third shaft hole 102a to the distance between the second shaft hole 101b and the fourth shaft hole 102b is equal to the distance between the fifth shaft hole 103a and the seventh shaft hole 103c, respectively. The ratio of the sine of the torsion angle of the first shaft hole 101a and the third shaft hole 102a to the sine of the torsion angle of the second shaft hole 101b and the fourth shaft hole 102b; the distance and rotation angle between the sixth shaft hole 103b and the seventh shaft hole 103c are equal to the distance and rotation angle between the thirteenth shaft hole 106a and the fourteenth shaft hole 106b; the distance and rotation angle between the eighth shaft hole 104a and the ninth shaft hole 104b are equal to the distance and rotation angle between the tenth shaft hole 105a and the eleventh shaft hole 105b; the... The ratio of the distance between the eighth shaft hole 104a and the thirteenth shaft hole 106a to the distance between the ninth shaft hole 104b and the fourteenth shaft hole 106b is equal to the ratio of the sine of the torsion angle between the eighth shaft hole 104a and the sine of the torsion angle between the ninth shaft hole 104b and the tenth shaft hole 106b; the distance and rotation angle between the eleventh shaft hole 105b and the twelfth shaft hole 105c are equal to the distance and rotation angle between the eighteenth shaft hole 108a and the nineteenth shaft hole 108b, respectively; the tenth The distance and angle between the fourth shaft hole 106b and the fifteenth shaft hole 106c are equal to the distance and angle between the sixteenth shaft hole 107a and the seventeenth shaft hole 107b; the ratio of the distance between the sixteenth shaft hole 107a and the eighteenth shaft hole 108a to the distance between the seventeenth shaft hole 107b and the nineteenth shaft hole 108b is equal to the ratio of the sine of the torsion angle of the sixteenth shaft hole 107a and the eighteenth shaft hole 108a to the sine of the torsion angle of the seventeenth shaft hole 107b and the nineteenth shaft hole 108b.

[0029] In this embodiment, the first rotating shaft 201 is the input end, and the ninth rotating shaft 209 is the output end. This embodiment can achieve a constant rotation ratio of 2:1. To enable the spatial multi-ring linkage mechanism to achieve a constant rotation ratio of 2:1, a motion polynomial model with constant transmission ratio characteristics needs to be established during the design process. Then, using the hypercomplex factorization theory, the factorization form of the motion polynomial is obtained, which is then mapped to a series chain with two revolute joints. Next, links are added according to the motion constraint theory to form multiple Bennett mechanisms with the series chain, thereby restricting undesirable motion. Through the above calculations and design, the spatial multi-ring linkage mechanism can achieve a constant transmission ratio of 2:1.

[0030] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A spatial multi-loop link mechanism with constant transmission ratio, characterized in that The application relates to a kind of Bennett mechanism, including: First Bennett mechanism, second Bennett mechanism and third Bennett mechanism, the first Bennett mechanism includes first connecting rod, second connecting rod, third connecting rod and fourth connecting rod, the second Bennett mechanism includes third connecting rod, fourth connecting rod, fifth connecting rod and sixth connecting rod, the third Bennett mechanism includes fifth connecting rod, sixth connecting rod seventh connecting rod and eighth connecting rod, the first Bennett mechanism is coupled with the second Bennett mechanism by sharing the third connecting rod and the fourth connecting rod, the second Bennett mechanism and third Bennett mechanism are coupled by sharing the fifth connecting rod and the sixth connecting rod; First shaft hole and second shaft hole are respectively arranged at two ends of the first connecting rod;Third shaft hole and fourth shaft hole are respectively arranged at two ends of the second connecting rod;Fifth shaft hole and seventh shaft hole are respectively arranged at two ends of the third connecting rod, and sixth shaft hole is further arranged on the third connecting rod, and the sixth shaft hole is arranged between the fifth shaft hole and the seventh shaft hole;Eighth shaft hole and ninth shaft hole are respectively arranged at two ends of the fourth connecting rod;Tenth shaft hole and twelfth shaft hole are respectively arranged at two ends of the fifth connecting rod, and eleventh shaft hole is further arranged on the fifth connecting rod, and the eleventh shaft hole is arranged between the tenth shaft hole and the twelfth shaft hole;Thirteenth shaft hole and fifteenth shaft hole are respectively arranged at two ends of the sixth connecting rod, and fourteenth shaft hole is further arranged on the sixth connecting rod, and the fourteenth shaft hole is arranged between the thirteenth shaft hole and the fifteenth shaft hole;Sixteenth shaft hole and seventeenth shaft hole are respectively arranged at two ends of the seventh connecting rod;Eighteenth shaft hole and nineteenth shaft hole are respectively arranged at two ends of the eighth connecting rod; The first shaft hole is fixedly connected to the first rotating shaft; the ninth and thirteenth shaft holes are both connected to the first rotating shaft; the second and third shaft holes are both connected to the second rotating shaft; the fourth and fifth shaft holes are both connected to the third rotating shaft; the sixth and tenth shaft holes are both connected to the fourth rotating shaft; the seventh and eighth shaft holes are both connected to the fifth rotating shaft; the eleventh and fourteenth shaft holes are both connected to the sixth rotating shaft; and the twelfth and sixteenth shaft holes are both connected to the first rotating shaft. The seven-axis shaft is sleeved and connected; the seventeenth and nineteenth shaft holes are both sleeved and connected to the eighth shaft; the fifteenth shaft hole is sleeved and connected to the ninth shaft; and the eighteenth shaft hole is fixedly connected to the ninth shaft. The distance and angle between the first and third shaft holes are equal to the distance and angle between the fifth and seventh shaft holes, respectively. The distance and angle between the third and fourth shaft holes are equal to the distance and angle between the eighth and ninth shaft holes, respectively. The distance between the first and third shaft holes is equal to the distance between the second and fourth shaft holes. The ratio is equal to the ratio of the sine of the torsion angle between the first and third shaft holes to the sine of the torsion angle between the second and fourth shaft holes; the distance and angle between the sixth and seventh shaft holes are equal to the distance and angle between the thirteenth and fourteenth shaft holes, respectively; the distance and angle between the eighth and ninth shaft holes are equal to the distance and angle between the tenth and eleventh shaft holes, respectively; the ratio of the distance between the eighth and thirteenth shaft holes to the distance between the ninth and fourteenth shaft holes is equal to the ratio of the sine of the torsion angle between the eighth and thirteenth shaft holes to the sine of the torsion angle between the ninth and fourteenth shaft holes. The ratio of the torsion sine of the hole and the fourteenth shaft hole; the distance and angle between the eleventh shaft hole and the twelfth shaft hole are equal to the distance and angle between the eighteenth shaft hole and the nineteenth shaft hole; the distance and angle between the fourteenth shaft hole and the fifteenth shaft hole are equal to the distance and angle between the sixteenth shaft hole and the seventeenth shaft hole; the ratio of the distance between the sixteenth shaft hole and the eighteenth shaft hole to the distance between the seventeenth shaft hole and the nineteenth shaft hole is equal to the ratio of the torsion sine of the sixteenth shaft hole and the eighteenth shaft hole to the torsion sine of the seventeenth shaft hole and the nineteenth shaft hole.

2. A spatial multi-loop link mechanism with constant transmission ratio according to claim 1, characterized in that The first rotating shaft is the input end, and the ninth rotating shaft is the output end.

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